Modular stair climbing guard for quadruped inspection robot

Abstract

The application provides a modular stair climbing protection device for a four-legged inspection robot, which comprises a four-legged robot, a connecting frame and an anti-falling structure; a rope reel in the anti-falling structure is rotatably installed on the connecting frame, the rope reel is internally provided with a pull rope, the other end of the pull rope is detachably connected with the four-legged robot body through a bottom plate; a driving cylinder three is fixedly arranged on the connecting frame, a sliding frame in sliding connection with the connecting frame is arranged on the piston rod of the driving cylinder three, and a clamping plate is elastically rotatably connected with the sliding frame through a torsional spring. Through the cooperation of the moving structure, the lifting structure, the connecting frame and the anti-falling structure, the four-legged robot is prevented from losing balance and rolling over when climbing the stairs in the cable gallery, a constraint tension is rapidly applied when the robot falls, the robot is prevented from falling down the stairs, the robot body and the carried inspection device are prevented from being damaged, the inspection task is ensured not to be interrupted, the burden of manual operation and maintenance is further reduced, and the overall efficiency of inspection is improved.

Description

Technical Field

[0001] This invention relates to the field of quadruped robot technology, and in particular to a modular stair climbing protection device for quadruped inspection robots. Background Technology

[0002] Quadruped inspection robots, with their flexible mobility, are widely used in various scenarios such as power line inspection, venue security, and chemical industrial park inspection. Among them, climbing stairs is one of their important application scenarios.

[0003] Some existing daily regulating pumped storage power stations have underground powerhouse structures. Flooding of the powerhouse is one of the unacceptable risks for power plants. The powerhouse drainage channels mainly include upper drainage channels, middle drainage channels, lower drainage channels, and gravity drainage tunnels. The normal operation of the above drainage channels is the key to avoiding flooding accidents. Currently, the daily inspection of the channels uses highly mobile quadruped robots equipped with inspection devices, in order to achieve automatic inspection of the pumped storage power station in all scenarios.

[0004] However, when a quadruped robot is climbing stairs, it is inevitably prone to malfunctions such as loss of balance, tipping over, or falling due to its own own influence or sudden interference. Once the robot falls, it will not only interrupt the inspection work, but may also damage the robot body and the inspection device it carries, causing safety hazards.

[0005] Existing quadruped robot protection designs mostly focus on optimizing walking stability, lacking specific protection mechanisms for stair climbing scenarios. When the robot loses balance and falls, it cannot apply restraint and reset assistance in time. If the robot cannot quickly recover its posture and return to the stairs after falling, the inspection task will fail, which will increase maintenance costs and safety risks.

[0006] Therefore, a modular stair-climbing protection device for quadrupedal inspection robots is proposed to solve the above problems. Summary of the Invention

[0007] To address the problems mentioned in the background art, the present invention provides a modular stair climbing protection device for a quadruped inspection robot, which achieves the purpose of actively preventing the robot from falling during the stair climbing process.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is: a modular stair climbing protection device for a quadruped inspection robot, comprising a quadruped robot, a connecting frame, and an anti-fall structure; The rope reel in the anti-fall structure is rotatably mounted on the connecting frame. The rope reel has a pull rope inside, and the other end of the pull rope is detachably connected to the quadruped robot body through the chassis. A drive cylinder three is fixedly mounted on the connecting frame. The piston rod of the drive cylinder three is provided with a sliding frame that is slidably connected to the connecting frame. A card plate is elastically rotatably connected to the sliding frame through a torsion spring. A fixed gear is fixed on the connecting frame, and a follower wheel is coaxially fixed on the rope reel. Multiple locking blocks are elastically provided on the outer side of the follower wheel, and the shape of the locking blocks is the same as the tooth groove shape of the fixed gear. The connecting frame is connected to multiple sets of movable structures via a lifting structure.

[0009] Preferably, a fixed frame is fixedly provided at the bottom of the connecting frame, the rope reel is rotatably installed on the fixed frame, an extension frame is installed on the fixed frame, the drive cylinder is fixedly provided at the bottom of the extension frame, and the sliding frame is slidably connected to the extension frame.

[0010] Preferably, the lifting frame in the lifting structure is fixed to the bottom of the connecting frame, and the top of the movable structure is provided with a support frame. A lifting screw is installed on the support frame via a servo motor. The lifting frame is slidably installed on the support frame and threadedly connected to the lifting screw.

[0011] Preferably, the mounting shell in the movable structure is fixed to the bottom of the support frame, the mounting shell is provided with sliding wheels, and a pair of movable frames are slidably mounted inside the mounting shell through a drive assembly, with several clamping wheels rotatably mounted on the movable frames; Adjacent mounting housings are connected by ball joints.

[0012] Preferably, two mounting brackets are fixed inside the mounting housing, a sliding wheel is located between the two mounting brackets, and a movable bracket is slidably connected to the bottom of the corresponding mounting bracket; The drive cylinder in the drive assembly is mounted on the mounting bracket, and its output end is connected to the slider that is slidably mounted on the mounting bracket. Gear 1 and Gear 2 are coaxially rotatably connected on the mounting frame via a rotating shaft. A rack 1 that meshes with Gear 1 is fixed on the slider. A rack 2 that meshes with Gear 2 is fixedly installed on the movable frame.

[0013] Preferably, the anti-fall structure also includes a fixed base, which is fixed to the top of the quadruped robot. A mounting base is fixed to the top of the fixed base, and the mounting base has an opening that corresponds to the chassis and gradually narrows. The top of the quadruped robot is fixed with multiple drive cylinders. The piston rod of the drive cylinder is fixed with a locking rod. The mounting base has locking holes corresponding to the locking rods. The locking rods are slidably connected to the corresponding locking holes. The outer side of the chassis is in contact with the locking rods.

[0014] Preferably, the rope has several rings arranged on its body, with annular grooves formed between adjacent rings, and the opposite sides of the two clamping plates are adapted to the annular grooves, with the lower end of the clamping plates being inclined.

[0015] Preferably, it also includes a protective structure; The rotating cylinder in the protective structure is installed on the body of the quadruped robot. A rotating frame is fixedly installed at the output end of the rotating cylinder. A rack frame is slidably connected to the rotating frame. Several adjusting gears are rotatably installed on the rotating frame. An adjusting rack that meshes with the adjusting gears is fixedly installed on the rack frame. A protective bent rod is fixedly installed on the adjusting gear. An electromagnet is provided between the rack and pinion and the rotating frame. The electromagnets are arranged in pairs, with the two in the pair installed on the rotating frame and the rack and pinion respectively. A robotic arm is mounted on the rack and pinion frame, and the inspection device used for inspection work is installed at the end of the robotic arm.

[0016] Preferably, a speedometer is installed on the mounting shell to detect the movement speed of the quadruped robot, and a camera is installed on the connecting frame to monitor the movement posture of the quadruped robot in real time.

[0017] This invention provides another technical solution: a method for using a modular stair-climbing safety device for a quadruped inspection robot, comprising the following steps: 1) Modular assembly and connection: Assemble the moving structure, lifting structure, anti-fall structure and protective structure in a modular manner, fix the connection parts of each structure, and put the chassis at the end of the pull rope into the top mounting seat of the quadruped robot. Start the second drive cylinder to clamp the chassis and complete the detachable connection between the pull rope and the quadruped robot. 2) Preparation before work: Turn on the power, use the servo motor to drive the lifting screw adjustment device to the appropriate stair step, place the device and the quadruped robot at the starting position of the stairs, make the sliding wheels fit the surface of the stairs, and start the drive cylinder to make the clamping wheel clamp the edge of the stairs. 3) Stair climbing operation: Start the quadruped robot, the sliding wheels roll synchronously, the speed measuring device detects the movement speed of the quadruped robot, the control terminal controls the moving structure to move synchronously with the quadruped robot, the camera monitors the movement posture of the quadruped robot in real time and transmits the information to the control terminal; 4) Abnormal situation handling: When the quadruped robot tends to tip over, the locking plate engages with the annular groove of the pull rope, and the locking block on the follower wheel meshes with the fixed gear to achieve double limiting and prevent the quadruped robot from tipping over; 5) Reset: After the quadruped robot is pulled, start the lifting screw. The lifting frame moves the connecting frame, and the quadruped robot is pulled off the stair surface. After the quadruped robot adjusts its posture, the connecting frame moves in the opposite direction and places the quadruped robot steadily on the stair surface, so that the quadruped robot can walk normally again.

[0018] This invention provides a modular stair-climbing safety device for a quadruped inspection robot, with the following advantages: 1. This invention addresses the problem of quadruped robots easily losing balance and tipping over when climbing stairs in cable corridors through the coordinated design of a moving structure, a lifting structure, a connecting frame, and an anti-fall structure. It quickly applies restraining force when the robot falls, preventing the robot from falling down the stairs, preventing damage to the robot body and the onboard inspection device, ensuring that the inspection task is not interrupted, further reducing the burden of manual maintenance, and improving the overall efficiency of inspection.

[0019] 2. The lifting structure and anti-fall structure of the present invention provide full-process protection for timely pulling and lifting of the robot, waiting for the robot's posture to be adjusted, and stable placement. It achieves special protection for stair climbing scenarios, and the protection effect is more in line with actual inspection scenarios.

[0020] 3. The protective structure of the present invention, through the design of the protective curved rod, automatically surrounds the inspection device at the moment of fall, forming a physical protective barrier, directly isolating the inspection device from collision with the stair surface, and further preventing damage to the inspection device.

[0021] 4. The anti-fall structure and protective structure of the present invention adopt a modular and detachable design. The connection between the anti-fall structure and the protective structure and the robot can be quickly disassembled. It can be installed when the robot needs to enter the stair environment. When the robot performs a task that does not require climbing stairs, the entire stair climbing protective structure can be removed to reduce the robot's load and improve its mobility. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a three-dimensional structural diagram of the lifting structure, connecting frame, anti-fall structure and protective structure in this invention; Figure 3 This is a three-dimensional structural diagram of the fixing frame, extension frame, anti-fall structure and protective structure in this invention; Figure 4 This is a front view of the fixing frame, extension frame, and anti-fall structure in this invention; Figure 5 This is a three-dimensional structural diagram of the fixing frame, extension frame, and anti-fall structure in this invention; Figure 6 This is a three-dimensional structural diagram of the extension frame and anti-fall structure in this invention; Figure 7 This is a three-dimensional structural diagram of the follower wheel and the fixed gear in this invention; Figure 8 This is a cross-sectional view of the follower wheel in this invention; Figure 9 This is a three-dimensional structural diagram of the extension frame, drive cylinder three, sliding frame and clamping plate in this invention; Figure 10 This is a three-dimensional structural diagram of the mounting base, clamping rod, drive cylinder 2, and fixed base in this invention; Figure 11 This is a three-dimensional structural diagram of the moving structure and the lifting structure in this invention; Figure 12 This is a three-dimensional structural diagram of the lifting structure in this invention; Figure 13 This is a three-dimensional structural diagram of the movable structure in this invention; Figure 14 This is a first three-dimensional structural diagram of the internal structure of the movable structure in this invention; Figure 15 This is a second three-dimensional structural diagram of the internal structure of the movable structure in this invention; Figure 16 This is a three-dimensional structural diagram of the protective structure in this invention; Figure 17 This is a three-dimensional structural diagram of the protective structure in this invention; Figure 18 This is a first schematic diagram of the operation of the present invention; Figure 19 This is a second schematic diagram of the operation of the present invention; Figure 20 This describes the method of using the present invention.

[0023] In the diagram: 1. Moving structure; 101. Mounting shell; 1011. Mounting frame; 102. Sliding wheel; 103. Moving frame; 104. Clamping wheel; 105. Drive cylinder one; 106. Slider; 107. Rack one; 108. Gear one; 109. Gear two; 110. Rack two; 2. Lifting structure; 201. Support frame; 202. Lifting screw; 203. Lifting frame; 3. Connecting frame; 301. Fixed frame; 302. Extension frame; 4. Anti-fall structure; 401. Rope reel; 4011. Pull rope; 402. Follower. 4021. Wheel; 403. Locking block; 404. Fixed gear; 405. Chassis; 405. Mounting base; 4051. Locking hole; 406. Locking rod; 407. Drive cylinder two; 408. Fixed base; 409. Drive cylinder three; 410. Sliding frame; 411. Locking plate; 5. Protective structure; 501. Rotating cylinder; 502. Rotating frame; 503. Rack frame; 504. Electromagnet; 505. Adjusting gear; 506. Protective bending rod; 507. Robotic arm; 6. Speed ​​measuring instrument; 7. Camera; 8. Quadruped robot; 9. Inspection device. Detailed Implementation

[0024] Example 1: like Figure 1-19As shown, a modular stair climbing protection device for a quadruped inspection robot includes a moving structure 1, a lifting structure 2, a connecting frame 3, an anti-fall structure 4, and a protective structure 5.

[0025] The movable structure 1 is used to move on the stair railing. The lifting structure 2 is set on the movable structure 1 and connected to the anti-fall structure 4 through the connecting frame 3. The anti-fall structure 4 is connected to the quadruped robot 8. When the quadruped robot 8 falls, it can be pulled up in time to prevent damage caused by the fall.

[0026] The protective structure 5 is installed on the body of the quadruped robot 8 to protect the inspection device 9 from direct collision with the ground and damage in the event of the quadruped robot 8 falling.

[0027] like Figure 13-15 As shown, in the preferred embodiment, the movable structure 1 includes a mounting shell 101, and two mounting brackets 1011 are fixed inside the mounting shell 101. A sliding wheel 102 is provided between the two mounting brackets 1011. The sliding wheel 102 is used to realize the movement of the entire device on the stair surface and reduce the movement resistance.

[0028] The mounting frame 1011 is slidably mounted with a pair of movable frames 103 via a drive assembly. The two movable frames 103 move toward each other. Several clamping wheels 104 are rotatably mounted on the movable frames 103. The clamping wheels 104 are closely arranged, and their total width together is greater than the spacing between the uprights of the stair handrail. This ensures that at least one clamping wheel 104 can clamp an upright when the movable frame 103 moves, thereby clamping the edge of the staircase and improving the stability of the device.

[0029] Among them, the sliding wheel 102 is an electric wheel, and the clamping wheel 104 can be a rubber wheel.

[0030] like Figure 14-15 As shown, in the preferred embodiment, the drive cylinder 105 in the drive assembly is fixed on the mounting bracket 1011, and the output end of the drive cylinder 105 is connected to the slider 106. The slider 106 is slidably mounted on the mounting bracket 1011, and a rack 107 is fixed on the slider 106.

[0031] Gear 108 and gear 2109 are rotatably connected on the mounting bracket 1011 via a rotating shaft. Rack 107 meshes with gear 108. Rack 210 meshes with gear 2109 is fixed on the movable bracket 103.

[0032] When the drive cylinder 105 is working, it pushes the slider 106 to slide along the mounting frame 1011. The slider 106 drives the gear 108 to rotate through the rack 107. The gear 108 drives the gear 2 109 to rotate synchronously. The gear 2 109 drives the moving frame 103 to slide through the rack 2 110, thereby controlling the two moving frames 103 to move towards each other, so that the clamping wheels 104 on both sides clamp the uprights of the stair handrail.

[0033] Adjacent mounting shells 101 are connected by ball joints, enabling the movable structure 1 to adapt to the corners and inclination angles of the stairs, thus improving adaptability.

[0034] like Figure 12 As shown, in the preferred embodiment, the lifting structure 2 includes a lifting frame 203 and a support frame 201. The lifting frame 203 is fixed to the bottom of the connecting frame 3, and the support frame 201 is fixedly installed on the mounting shell 101 of one of the movable structures 1.

[0035] A lifting screw 202 is mounted on the support frame 201 via a servo motor. A lifting frame 203 is slidably mounted on the support frame 201 and is threadedly connected to the lifting screw 202.

[0036] The servo motor drives the lifting screw 202 to rotate, causing the lifting frame 203 to slide up and down along the support frame 201, thereby driving the connecting frame 3 and the anti-fall structure 4 to rise and fall synchronously, adjusting the overall height of the device.

[0037] like Figure 3-10 As shown, in the preferred embodiment, the anti-fall structure 4 includes a rope reel 401, a pull rope 4011, a follower wheel 402, a fixed gear 403, a chassis 404, a drive cylinder 409, a sliding frame 410, and a locking plate 411.

[0038] A fixed frame 301 is fixedly installed at the bottom of the connecting frame 3. The rope spool 401 is rotatably installed on the fixed frame 301. A pull rope 4011 is wound inside the rope spool 401. The other end of the pull rope 4011 is connected to the chassis 404. The chassis 404 is detachably connected to the body of the quadruped robot 8.

[0039] Among them, a spring is installed on the central shaft of the rope reel 401 to realize the automatic storage of the rope 4011.

[0040] like Figure 10 As shown, a fixed base 408 is fixed on the top of the quadruped robot 8, and a mounting base 405 is fixed on the top of the fixed base 408. The mounting base 405 has an opening that gradually narrows and corresponds to the chassis 404. The chassis 404 slides into the mounting base 405 through the opening, which facilitates the positioning and installation of the chassis 404.

[0041] The quadruped robot 8 is also equipped with multiple drive cylinders 407 on its top. A locking rod 406 is fixed on the piston rod of the drive cylinder 407. The mounting base 405 has a locking hole 4051 corresponding to the locking rod 406. The locking rod 406 is slidably installed in the locking hole 4051 and contacts the outer side of the chassis 404. The drive cylinder 407 pushes the locking rod 406 to slide, thereby clamping and fixing the chassis 404, and thus realizing the detachable connection between the pull rope 4011 and the quadruped robot 8.

[0042] like Figure 9 As shown, in the preferred embodiment, an extension frame 302 is installed on the fixed frame 301, a drive cylinder 409 is fixed to the bottom of the extension frame 302, a sliding frame 410 is fixed on the piston rod of the drive cylinder 409, the sliding frame 410 is slidably connected to the extension frame 302, and two clamping plates 411 are elastically rotatably connected to the sliding frame 410 by a torsion spring.

[0043] The rope 4011 has several rings arranged on its body, and an annular groove is formed between adjacent rings. The opposite side of the clamping plate 411 is adapted to the annular groove, and the lower end of the clamping plate 411 is inclined.

[0044] When the drive cylinder 409 is activated, the drive cylinder 409 drives the sliding frame 410 to move toward the pull rope 4011. The locking plate 411 engages with the annular groove of the pull rope 4011. The lower end of the locking plate 411 is inclined, so that the locking plate 411 can only flip upward in one direction, so that the pull rope 4011 can only retract upward and cannot be stretched downward, thus achieving the limiting of the pull rope 4011.

[0045] like Figure 6-8 As shown, in the preferred embodiment, a follower wheel 402 is coaxially fixedly mounted on the rope reel 401. Several locking blocks 4021 are evenly arranged on the follower wheel 402 along the circumference. A groove corresponding to the locking block 4021 is opened on the outer side of the follower wheel 402. The locking block 4021 slides radially and is elastically mounted inside the corresponding groove of the follower wheel 402 by a tension spring. A fixed gear 403 is fixedly mounted on the fixing frame 301. The shape of the locking block 4021 is the same as the tooth groove shape of the fixed gear 403.

[0046] When the rope disc 401 rotates rapidly, the follower wheel 402 rotates accordingly. The locking block 4021 on the follower wheel 402 will extend outward under the action of centrifugal force. One of the extended locking blocks 4021 enters the tooth groove of the fixed gear 403, which plays a braking role and prevents the rope disc 401 from continuing to rotate.

[0047] like Figure 16-17 As shown, in the preferred embodiment, the protective structure 5 includes a rotating cylinder 501, a rotating frame 502, a rack frame 503, an electromagnet 504, an adjusting gear 505, and a protective bent rod 506.

[0048] A rotary cylinder 501 is mounted on the body of the quadruped robot 8. A rotary frame 502 is fixedly mounted on the output end of the rotary cylinder 501. A rack frame 503 is slidably connected on the rotary frame 502. A pair of electromagnets 504 are provided between the rotary frame 502 and the rack frame 503. The two electromagnets 504 in the same pair are respectively mounted on the rotary frame 502 and the rack frame 503. The sliding of the rack frame 503 is controlled by opening and closing the electromagnets 504.

[0049] The robotic arm 507 is mounted on the top of the rack and pinion 503, and the inspection device 9 used for inspection work is mounted on the end of the robotic arm 507. The rotary cylinder 501 and the robotic arm 507 can control the orientation of the inspection device 9.

[0050] Several adjusting gears 505 are rotatably mounted on the rotating frame 502. An adjusting rack that meshes with the adjusting gears 505 is fixedly mounted on the rack frame 503. Protective bent rods 506 are fixedly mounted on the adjusting gears 505. When the electromagnets 504 are attracted together, the rack frame 503 moves downward, driving the adjusting gears 505 to rotate. All the protective bent rods 506 close together, surrounding the robot arm 507 and the inspection device 9.

[0051] Electromagnet 504 is a permanent magnet composite electromagnet that attracts when energized and repels when de-energized. Through the cooperation of electromagnetic components and permanent magnets, the coil generates attraction when energized to achieve attraction, and the built-in permanent magnets achieve mutual repulsion separation when the coil is de-energized. When electromagnet 504 is de-energized, the robot arm 507 and inspection device 9 can be lifted upwards, and all protective bending rods 506 can be opened to facilitate continued operation.

[0052] In the preferred embodiment, the robotic arm 507 adopts a multi-degree-of-freedom robotic arm.

[0053] like Figure 1 As shown, in the preferred embodiment, a speed measuring instrument 6 is installed on the mounting shell 101 of the mobile structure 1 to detect the moving speed of the quadruped robot 8, thereby controlling the moving speed of the sliding wheel 102. A camera 7 is installed on the connecting frame 3 to monitor the motion posture of the quadruped robot 8 in real time.

[0054] In a preferred embodiment, a modular stair-climbing safety device for a quadrupedal inspection robot also includes a control terminal, which is electrically connected to each electrical component to control the operation of the entire stair-climbing safety device. The robotic arm 507, the speedometer 6, and the camera 7 are all existing technologies known in the field. Their specific structures, working principles, and conventional connection methods have been fully disclosed in public documents or existing products, so they will not be elaborated on in detail here.

[0055] Working principle: This modular stair-climbing protective device for a quadruped inspection robot requires installation before the quadruped robot 8 can climb stairs. First, the movable structure 1 is placed on the stair railing. The drive cylinder 105 is activated, the movable frame 103 slides, and the clamping wheels 104 on both sides clamp the uprights of the stair railing. Then, the fixed base 408 is fixedly installed on the body of the quadruped robot 8. The pull rope 4011 is pulled out, and the chassis 404 is installed into the fixed base 408. The drive cylinder 407 is activated, and the clamping rod 406 enters the corresponding clamping hole 4051 to fix the chassis 404. Finally, the rotating cylinder 501 is fixedly installed on the body of the quadruped robot 8, and the inspection device 9 is installed at the end of the robotic arm 507. The installation is then complete. The speed measuring instrument 6 detects the moving speed of the quadruped robot 8, the control terminal controls the moving structure 1 to move synchronously with the quadruped robot 8, and the camera 7 monitors the motion posture of the quadruped robot 8 in real time and transmits the information to the control terminal. When the camera 7 detects that the quadruped robot 8 has fallen, the control terminal activates the electromagnet 504, the rack frame 503 moves, the adjusting gear 505 drives the protective bending rod 506 to rotate, and the protective bending rod 506 surrounds the inspection device 9 to prevent the inspection device 9 from directly colliding with the stairs. At the moment the quadruped robot 8 falls, the pull rope 4011 is pulled by the quadruped robot 8, and the central axis of the rope reel 401 rotates rapidly due to the pull rope 4011. The follower wheel 402 rotates accordingly, and the locking block 4021 extends outward under the action of centrifugal force. One of the locking blocks 4021 enters the tooth groove of the fixed gear 403, which slows down the rotation of the follower wheel 402 and prevents the rope reel 401 from continuing to rotate. At the same time, the control terminal starts the drive cylinder 3 409, the sliding frame 410 slides, and the locking plate 4... 11 is inserted into the annular groove of the pull rope 4011. The locking block 4021 will cause the pull rope 4011 to stop for a moment. Then the locking block 4021 will return to its original position under the action of the spring. After the locking plate 411 locks the pull rope 4011, the central axis of the rope disc 401 will rotate in the opposite direction under the action of the spring, causing the pull rope 4011 to move upward relative to the locking plate 411 for a certain distance. Finally, the pull rope 4011 gradually stops moving, and the quadruped robot 8 is pulled before colliding with the stairs. After the quadruped robot 8 is pulled, the lifting screw 202 is activated, and the lifting frame 203 drives the connecting frame 3 to move, pulling the quadruped robot 8 away from the stair surface. After the quadruped robot 8 adjusts its posture, the connecting frame 3 moves in the opposite direction, placing the quadruped robot 8 stably on the stair surface, so that the quadruped robot 8 can walk normally again.

[0056] Example 2: like Figure 20 As shown, a method for using a modular stair-climbing safety device for a quadruped inspection robot includes the following steps: 1) Modular assembly and connection: Assemble the moving structure 1, lifting structure 2, anti-fall structure 4, and protective structure 5 in a modular manner, fix the connection parts of each structure, and at the same time, put the chassis 404 at the end of the pull rope 4011 into the top mounting base 405 of the quadruped robot 8, start the second drive cylinder 407 to clamp the chassis 404, and complete the detachable connection between the pull rope 4011 and the quadruped robot 8. 2) Preparation before work: Turn on the power, use the servo motor to drive the lifting screw 202 to adjust the overall height of the device to match the stair steps, place the device and the quadruped robot 8 at the starting position of the stairs, make the sliding wheel 102 fit the surface of the stairs, and start the drive cylinder 105 to make the clamping wheel 104 clamp the edge of the stairs. 3) Climbing stairs operation: Start the quadruped robot 8, the sliding wheels 102 roll synchronously, the speed measuring instrument 6 detects the moving speed of the quadruped robot 8, the control terminal controls the moving structure 1 to move synchronously with the quadruped robot 8, the camera 7 monitors the motion posture of the quadruped robot 8 in real time and transmits the information to the control terminal; 4) Abnormal situation handling: When the quadruped robot 8 shows a tendency to tip over, the clamping plate 411 engages with the annular groove of the pull rope 4011, and the clamping block 4021 on the follower wheel 402 meshes with the fixed gear 403 to achieve double limiting and prevent the quadruped robot 8 from tipping over. 5) Reset: After the quadruped robot 8 is pulled, start the lifting screw 202. The lifting frame 203 drives the connecting frame 3 to move, and the quadruped robot 8 is pulled up away from the stair surface. After the quadruped robot 8 adjusts its posture, the connecting frame 3 moves in the opposite direction and places the quadruped robot 8 stably on the stair surface, so that the quadruped robot 8 can walk normally again.

[0057] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A modular stair-climbing safety device for a quadruped inspection robot, characterized in that: Includes a quadruped robot (8), a connecting frame (3), and a fall-prevention structure (4); The rope reel (401) in the anti-fall structure (4) is rotatably mounted on the connecting frame (3). The rope reel (401) is equipped with a pull rope (4011). The other end of the pull rope (4011) is detachably connected to the body of the quadruped robot (8) through the chassis (404). A drive cylinder three (409) is fixed on the connecting frame (3). A sliding frame (410) is provided on the piston rod of the drive cylinder three (409) and is slidably connected to the connecting frame (3). A card plate (411) is elastically rotatably connected to the sliding frame (410) by a torsion spring. A fixed gear (403) is fixed on the connecting frame (3), and a follower wheel (402) is coaxially fixed on the rope disc (401). Multiple locking blocks (4021) are elastically provided on the outer side of the follower wheel (402). The shape of the locking blocks (4021) is the same as the tooth groove shape of the fixed gear (403). The connecting frame (3) is connected to multiple sets of moving structures (1) through the lifting structure (2).

2. The modular stair-climbing safety device for a quadrupedal inspection robot according to claim 1, characterized in that: A fixed frame (301) is fixedly installed at the bottom of the connecting frame (3). A rope coil (401) is rotatably installed on the fixed frame (301). An extension frame (302) is installed on the fixed frame (301). A drive cylinder (409) is fixedly installed at the bottom of the extension frame (302). A sliding frame (410) is slidably connected to the extension frame (302).

3. The modular stair-climbing safety device for a quadrupedal inspection robot according to claim 1, characterized in that: The lifting frame (203) in the lifting structure (2) is fixed at the bottom of the connecting frame (3). The top of the moving structure (1) is provided with a support frame (201). A lifting screw (202) is installed on the support frame (201) via a servo motor. The lifting frame (203) is slidably installed on the support frame (201) and threadedly connected to the lifting screw (202).

4. The modular stair-climbing safety device for a quadrupedal inspection robot according to claim 3, characterized in that: The mounting shell (101) in the movable structure (1) is fixed to the bottom of the support frame (201). The mounting shell (101) is provided with sliding wheels (102). A pair of movable frames (103) are slidably mounted inside the mounting shell (101) through a drive assembly. Several clamping wheels (104) are rotatably mounted on the movable frames (103). Adjacent mounting housings (101) are connected by ball joints.

5. A modular stair-climbing safety device for a quadrupedal inspection robot according to claim 4, characterized in that: The mounting housing (101) has two mounting brackets (1011) fixed inside, and a sliding wheel (102) is located between the two mounting brackets (1011). The movable bracket (103) is slidably connected to the bottom of the corresponding mounting bracket (1011). The drive cylinder (105) in the drive assembly is mounted on the mounting bracket (1011), and its output end is connected to the slider (106) that is slidably mounted on the mounting bracket (1011); The mounting bracket (1011) is coaxially connected to gear one (108) and gear two (109) via a rotating shaft. The slider (106) is fixedly provided with rack one (107) that meshes with gear one (108). The movable frame (103) is fixedly provided with rack two (110) that meshes with gear two (109).

6. The modular stair-climbing safety device for a quadrupedal inspection robot according to claim 1, characterized in that: The anti-fall structure (4) also includes a fixed seat (408), which is fixed on the top of the quadruped robot (8). A mounting seat (405) is fixed on the top of the fixed seat (408), and the mounting seat (405) has an opening that corresponds to the chassis (404) and gradually narrows. The top of the quadruped robot (8) is fixed with multiple drive cylinders (407). A locking rod (406) is fixed on the piston rod of the drive cylinder (407). The mounting base (405) has a locking hole (4051) corresponding to the locking rod (406). The locking rod (406) is slidably connected to the inside of the corresponding locking hole (4051). The outer side of the chassis (404) is in contact with the locking rod (406).

7. The modular stair-climbing safety device for a quadrupedal inspection robot according to claim 1, characterized in that: The rope (4011) has several rings arranged on its body, and an annular groove is formed between adjacent rings. The opposite side of the two clamping plates (411) is adapted to the annular groove, and the lower end of the clamping plates (411) is inclined.

8. The modular stair-climbing safety device for a quadrupedal inspection robot according to claim 1, characterized in that: It also includes a protective structure (5); The rotating cylinder (501) in the protective structure (5) is installed on the body of the quadruped robot (8). The output end of the rotating cylinder (501) is fixedly provided with a rotating frame (502). A rack frame (503) is slidably connected on the rotating frame (502). Several adjusting gears (505) are rotatably installed on the rotating frame (502). An adjusting rack that meshes with the adjusting gears (505) is fixedly installed on the rack frame (503). A protective bent rod (506) is fixedly installed on the adjusting gears (505). An electromagnet (504) is provided between the rack and pinion (503) and the rotating frame (502). The electromagnets (504) are arranged in pairs, with the two in the same pair installed on the rotating frame (502) and the rack and pinion (503) respectively. A robot arm (507) is mounted on a rack frame (503), and an inspection device (9) used for inspection work is installed at the end of the robot arm (507).

9. A modular stair-climbing safety device for a quadrupedal inspection robot according to claim 4, characterized in that: A speedometer (6) is installed on the mounting shell (101) to detect the moving speed of the quadruped robot (8), and a camera (7) is installed on the connecting frame (3) to monitor the motion posture of the quadruped robot (8) in real time.

10. A method of using a modular stair-climbing safety device for a quadruped inspection robot, as described in claims 1-9, characterized in that: Includes the following steps: 1) Modular assembly and connection: Assemble the moving structure (1), lifting structure (2), anti-fall structure (4), and protective structure (5) in a modular manner, fix the connection parts of each structure, and put the chassis (404) at the end of the pull rope (4011) into the top mounting seat (405) of the quadruped robot (8). Start the second drive cylinder (407) to clamp the chassis (404) and complete the detachable connection between the pull rope (4011) and the quadruped robot (8); 2) Preparation before work: Turn on the power, use the servo motor to drive the lifting screw (202) to adjust the overall height of the device to match the stair steps, place the device and the quadruped robot (8) at the starting position of the stairs, make the sliding wheel (102) fit the surface of the stairs, start the drive cylinder (105) to make the clamping wheel (104) clamp the edge of the stairs; 3) Climbing stairs operation: Start the quadruped robot (8), the sliding wheels (102) roll synchronously, the speed measuring instrument (6) detects the moving speed of the quadruped robot (8), the control terminal controls the moving structure (1) to move synchronously with the quadruped robot (8), the camera (7) monitors the movement posture of the quadruped robot (8) in real time and transmits the information to the control terminal; 4) Abnormal situation handling: When the quadruped robot (8) shows a tendency to tip over, the clamping plate (411) is engaged in the annular groove of the pull rope (4011), and the clamping block (4021) on the follower wheel (402) meshes with the fixed gear (403) to achieve double limit and prevent the quadruped robot (8) from tipping over; 5) Reset: After the quadruped robot (8) is pulled, start the lifting screw (202), the lifting frame (203) drives the connecting frame (3) to move, the quadruped robot (8) is pulled up and away from the stair surface. After the quadruped robot (8) adjusts its posture, the connecting frame (3) moves in the opposite direction and places the quadruped robot (8) stably on the stair surface, so that the quadruped robot (8) can walk normally again.

Images